Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems

Abstract

Example embodiments relate to devices, systems, and methods for performing a surgical action. The device may comprise a port assembly, a camera arm assembly, and an instrument arm assembly. The port assembly comprises an access port and a plurality of anchoring portions. The camera arm assembly comprises at least one camera at a distal end and is configurable to insert into the access port and attach to one of the anchoring portions. The instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end. Each joint portion is configurable to provide an attached arm segment with at least one degree of freedom. Furthermore, the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom.

What is claimed is: 
     
       1. A surgical device comprising:
 a port assembly having an access port and a plurality of anchoring portions, the port assembly further including:
 a plurality of separate internal channels distributedly formed around the access port, each internal channel parallel to the access port and formed in alignment with one of the anchor portions of the port assembly; 
 
 a camera arm assembly having at least one camera at a distal end, the camera arm assembly configurable to insert into the access port and attach to one of the anchoring portions; 
 an instrument arm assembly, the instrument arm assembly configurable to insert into the access port and attach to one of the anchoring portions of the port assembly, the instrument arm assembly having a serial arrangement including:
 a shoulder section, the shoulder section forming a shoulder central axis; 
 a first arm section, a proximal end of the first arm section connected to a distal end of the shoulder section via a shoulder joint portion, the first arm section being an elongated body forming a first arm central axis; 
 an elbow joint portion, the elbow joint portion including an elbow pivotal joint connecting a distal end of the first arm section to a proximal end of a second arm section; 
 the second arm section, a proximal end of the second arm section connected to the distal end of the elbow joint portion, the second arm section being an elongated body forming a second arm central axis; 
 a wrist section, a proximal end of the wrist section connected to a distal end of the second arm section via a wrist joint portion; 
 at least one end instrument connected to a distal end of the wrist section via an end instrument joint portion; and 
 an instrument arm anchor segment having a proximal end and a distal end, the instrument arm anchor segment having an instrument arm anchor body and an instrument arm anchor portion at a proximal end of the instrument arm anchor body, a distal end of the instrument arm anchor body connected to a proximal end of the shoulder section, wherein the instrument arm anchor body is configurable to be inserted through one of the internal channels of the port assembly, wherein the instrument arm anchor portion is configurable to anchor to one of the anchoring portions of the port assembly when the instrument arm anchor body is housed in one of the internal channels of the port assembly, wherein the instrument arm anchor body is formed in such a way that a clear path through the access port of the port assembly remains available for insertion of other instrument arm assemblies when the instrument arm anchor body is housed in one of the internal channels of the port assembly and the instrument arm anchor portion is anchored to one of the anchoring portions of the port assembly; 
 
 wherein the instrument arm assembly is configurable to provide at least seven in vivo degrees of freedom after the instrument arm assembly is inserted through the access port of the port assembly, the instrument arm anchor body is housed in one of the internal channels of the port assembly, and the instrument arm anchor portion is anchored to one of the anchoring portions of the port assembly, wherein each of the at least seven in vivo degrees of freedom is a rotation relative to a linear axis, the at least seven in vivo degrees of freedom including:
 a movement of the first arm section relative to the shoulder central axis; 
 a movement of the first arm section relative to an axis formed by the shoulder joint portion, the axis formed by the shoulder joint portion being different from the shoulder central axis; 
 a movement of the first arm section relative to the first arm central axis, the movement of the first arm section being a rotational movement of the first arm section relative to the first arm central axis; 
 a movement of the second arm section relative to an axis formed by the elbow pivotal joint of the elbow joint portion, the axis formed by the elbow pivotal joint being different from the first arm central second axis; 
 a movement of the wrist section relative to the second arm central axis; 
 a movement of the end instrument relative to an axis formed by the wrist joint portion, the axis formed by the wrist joint portion being different from the second arm central axis; and 
 a movement of the end instrument relative to an axis formed by the end instrument joint portion, the axis formed by the end instrument joint portion being different from the axis formed by the wrist joint portion; and 
 
 wherein the shoulder joint portion, elbow joint portion, wrist joint portion, and end instrument joint portion are each independently controllable. 
 
     
     
       2. The surgical device of  claim 1 , wherein each of the at least seven in vivo degrees of freedom is independently controllable by a computing device. 
     
     
       3. The surgical device of  claim 1 , wherein the instrument arm assembly is configurable to provide at least eight degrees of freedom. 
     
     
       4. The surgical device of  claim 1 , wherein the port assembly is fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions via an external anchor and configurable to provide at least one in vitro degree of freedom, and wherein at least one of the in vitro degrees of freedom of the port assembly is a torsional movement or a pivotal movement relative to the external anchor. 
     
     
       5. The surgical device of  claim 1 , wherein the port assembly further comprises an outer body and an inner body, wherein the inner body is configurable to insert into and attach to the outer body, and wherein the outer body comprises a first end fixably positionable in at least a portion of an opening of a patient in one of a plurality of positions and a second end operable to attach to an external anchor. 
     
     
       6. The surgical device of  claim 1 , wherein the port assembly is configurable to allow the insertion of at least the camera arm assembly and the instrument arm assembly through the access port of the port assembly. 
     
     
       7. The surgical device of  claim 1 , wherein the port assembly is configurable to allow an insertion of instruments into a cavity of a patient via the access port when the surgical device is in operation. 
     
     
       8. The surgical device of  claim 1 , wherein the camera arm assembly is configurable in a serial arrangement including a plurality of camera arm segments, camera joint portions, and the at least one camera attached to one of the camera arm segments, wherein each camera joint portion is configurable to provide an attached camera arm segment with at least one degree of freedom, wherein the at least one degree of freedom of each attached camera arm segment includes a torsional movement or a pivotal movement relative to the camera joint portion, wherein the at least one degree of freedom of each attached camera arm segment is an in vivo degree of freedom, wherein the at least one degree of freedom of each attached camera arm segment is independently controllable by a computing device, wherein the camera arm assembly further comprises at least one illumination source, and wherein the at least one camera is a high definition 3D camera. 
     
     
       9. The surgical device of  claim 1 , further comprising one or more additional instrument arm assemblies, wherein each additional instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end, wherein each joint portion is configurable to provide an attached arm segment with at least one degree of freedom, wherein the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom, and wherein each of the one or more additional instrument arm assemblies is configurable to insert into the access port and attach to one of the anchoring portions. 
     
     
       10. The surgical device of  claim 1 , further comprising one or more assistant arm assemblies having a serial arrangement including a plurality of assistant arm segments and an assistant arm joint portion connecting serially arranged assistant arm segments, wherein each assistant arm joint portion is configurable to provide an attached assistant arm segment with at least one degree of freedom, wherein each of the one or more assistant arm assemblies is configurable to insert into the access port and attach to one of the anchoring portions, and wherein each of the degrees of freedom of each of the instrument arm assemblies and the assistant arm assemblies are independently controllable. 
     
     
       11. The surgical device of  claim 1 , wherein the instrument arm assembly is further configured to provide a force and/or haptic feedback to a computing device. 
     
     
       12. The surgical device of  claim 1 , wherein a length of the first arm section and/or second arm section is variably adjustable in response to a command from a computing device. 
     
     
       13. The surgical device of  claim 1 , wherein at least one operation of the instrument arm assembly is controllable via wired and/or wireless communication from a computing device. 
     
     
       14. The surgical device of  claim 1 , wherein an outer diameter of the port assembly is less than or equal to about 22 mm. 
     
     
       15. The surgical device of  claim 1 , wherein an outer diameter of the instrument arm assembly is less than or equal to about 16 mm.